Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains

Jun, Jae-Yun; Padois, Vincent; Benamar, Faiz

doi:10.1109/arso.2015.7428212

Cited by 3 publications

(1 citation statement)

References 14 publications

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“…Wu et al (2014) investigated the tip-over stability and rollover stability of the non-slewing articulated mobile cranes when are on the level ground and across a side slope. Jun et al (2015) introduced a method to generate a trajectory for the arm’s center of mass for improving the overall quasi-static stability of mobile manipulators. Although the overturning stability of cranes has received considerable attention in literature, the extent to ground conditions or outrigger legs collapsed has not been extensively addressed.…”

Section: Literature Reviewmentioning

confidence: 99%

Stability analysis of mobile cranes and determination of outriggers loading

Romanello¹

2018

JEDT

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Purpose The purpose of this paper is to develop mathematical tools that are reliable and easily implementable in computer codes, which address the determination of the outriggers reaction of mobile cranes and the monitoring of the actual stability margin available during lift operations. Design/methodology/approach An algorithm that determines the load transmitted to the ground by a mobile crane with four outriggers has been developed. Static theory of rigid body is adopted for the development of the algorithm and the static indeterminancy, due to the presence of more than three outriggers, is eluded through the adoption of specific hypotheses. An analysis of crane stability is also performed, and a method to monitor the actual stability behavior during lift operations is suggested. Findings A case study is proposed to test the algorithm and outcomes show a good matching with the actual outriggers reaction measured during a test conduct in situ. Two indices are introduced as a measure of the stability margin. Research limitations/implications The method developed accounts only for gravitational forces statically applied. Future works should be addressed to extend the model to the effect of wind and inertial forces. Practical implications This paper supplies a reliable tool to assess, in the design phase of a lifting operation, the compliance between bearing capacity of the ground and loads transmitted by outriggers. The method proposed for the analysis of the stability behavior is suitable for the development of an anti-upset device. Originality/value This study contributes to efforts to increase safety during lifting operations with mobile cranes. The method proposed is applicable to cranes with any geometry of the outriggers pattern and is extensible to a number of outriggers greater than four. Furthermore, the evaluation of the measure in real time of the stability margin, is not affected by the data entered by the crane’s operator with the consequence that human factor does not affect this measure.

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Section: Literature Reviewmentioning

confidence: 99%